JP2018144686A - Occupant support device, method, and program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide support for an occupant of a vehicle.SOLUTION: An occupant support device makes a state determination part determine whether or not an occupant is in a safe state even when the occupant gets out of a vehicle, on the basis of the result of sensing by a peripheral state detection sensor for detecting a peripheral state of the vehicle, in the case where a destination arrival determination part for determining whether or not the vehicle arrives at the occupant's destination determines that the vehicle arrives at the occupant's destination. The occupant support device makes a door lock control part unlock a door for a get-off/get-on opening of the vehicle, in the case where it is determined that the occupant in the safe state even when the occupant gets off the vehicle.SELECTED DRAWING: Figure 2

Description

  The present invention relates to a passenger support apparatus, method, and program for supporting a vehicle passenger.

  Vehicles equipped with an automatic driving control device that supports driving operations of vehicles have been developed and sold.

  In a vehicle equipped with such an automatic driving control device, various types of supporting devices that support the driver have been proposed. For example, Japanese Patent Laying-Open No. 2014-044707 (hereinafter referred to as Patent Document 1) determines the driver's health, and when the driver's health is reduced, driving according to the degree of the decrease. A driver abnormality support device that supports a driver is disclosed.

  Further, for example, as disclosed in Japanese Patent Application Laid-Open No. 2005-054487 (hereinafter referred to as Patent Document 2), when the user tries to open the door of the vehicle, the user is not aware that another vehicle is approaching. There is known a keyless entry device that prevents a collision accident from occurring by opening a door.

JP, 2014-044707, A JP 2005-054487 A

  As described above, a driver abnormality support device that supports a driver is disclosed in Patent Document 1 and the like. On the other hand, not only the driver but also a passenger who does not drive is included in the vehicle equipped with the automatic driving control device. Therefore, not only support for the driver but also a passenger support device that performs various types of support for all vehicle passengers including the driver and the passengers is also required.

  In addition, in Patent Document 2, a technique for preventing a collision accident from occurring when a user opens a door immediately before riding in a vehicle is described. However, a vehicle occupant after a vehicle arrives at a destination is described. A technique for preventing a collision accident from occurring when the vehicle door is opened is not disclosed.

  The present invention is intended to provide an occupant support apparatus, method, and program capable of supporting an occupant on a vehicle after the vehicle has arrived at a destination.

  In order to solve the above-described problem, a first aspect of the present invention is a passenger support device that supports a passenger who has boarded a vehicle, and determines whether the vehicle has arrived at the destination of the passenger. When the destination arrival determination unit and the destination arrival determination unit determine that the vehicle has arrived at the destination, based on the sensing result of the surrounding state detection sensor that detects the surrounding state of the vehicle, A state determination unit that determines whether or not the passenger is in a safe state even when getting off the vehicle, and the vehicle when the state determination unit determines that the passenger is in a safe state even after getting off the vehicle A door lock control unit for unlocking the door of the doorway.

  The passenger assistance device according to a second aspect of the present invention is the passenger assistance device according to the first aspect, wherein the state determination unit is based on a sensing result of the ambient state detection sensor and near the entrance / exit. It is determined whether or not a moving object existing in the vehicle is approaching the door, and based on the determination result, it is determined whether or not the passenger is in a safe state even when getting off the vehicle.

  A passenger support apparatus according to a third aspect of the present invention is the passenger support apparatus according to the first or second aspect, further comprising a destination storage unit that stores the destination of the passenger. The destination arrival determination unit determines whether the vehicle has arrived at the destination stored in the destination storage unit based on a sensing result of a current position detection sensor that detects a current position of the vehicle. .

  A passenger support apparatus according to a fourth aspect of the present invention is the passenger support apparatus according to the first or second aspect, wherein the vehicle has an automatic driving control apparatus, and is controlled by the automatic driving control apparatus. When the vehicle is an autonomous driving vehicle that performs automatic driving to a destination, the destination arrival determination unit determines whether or not the vehicle has arrived at the destination based on the presence or absence of a destination arrival signal from the automatic driving control device.

  According to a fifth aspect of the present invention, there is provided a passenger support method executed by an apparatus for supporting a passenger who has boarded a vehicle, wherein the vehicle determines whether or not the vehicle has arrived at a destination of the passenger. When it is determined that the vehicle has arrived at the destination in the destination arrival determination step and the destination arrival determination step, based on the sensing result of the surrounding state detection sensor that detects the surrounding state of the vehicle, A state determination step for determining whether or not the passenger is in a safe state even when getting off the vehicle, and when it is determined in the state determination step that the passenger is in a safe state for getting off the vehicle, A door lock control step for unlocking the door of the entrance / exit.

  According to a sixth aspect of the present invention, there is provided a program for causing a computer to execute the function of each unit provided in the passenger support apparatus according to the first to fourth aspects.

  According to the first and fifth aspects of the present invention, it is determined whether or not the vehicle has arrived at the destination of the passenger, and if the vehicle has arrived at the destination, the state around the vehicle is detected. To do. If the passenger is in a safe state even when getting off, the door of the vehicle entrance / exit door is unlocked so that the passenger can get off. Therefore, for example, by preventing the passenger from getting off with the door locked until the bicycle approaching from behind passes by, the passenger who has got off without noticing the approach of the bicycle collides with the bicycle, etc. Can be prevented and passenger safety can be supported. In addition, since it is possible to prevent a bicycle from colliding with a door that is inadvertently opened by the passenger, not only can the safety of the passenger such as a bicycle be secured, but also the passenger of the vehicle and the passenger such as a bicycle Can be prevented in advance.

  According to the second aspect of the present invention, since it is determined whether or not the passenger is in a safe state even when getting off the vehicle depending on whether or not the moving object is approaching the door, the movement of the bicycle or the like The door can remain locked when an object is approaching.

  According to the third aspect of the present invention, it is possible to easily determine whether or not the vehicle has arrived at the destination by comparing the destination acquired and stored in advance with the current position of the vehicle. it can.

  According to the fourth aspect of the present invention, when the automatic operation control apparatus arrives at the destination, it can be known without using the current position detection sensor, so that it can be constructed at low cost.

  According to the sixth aspect of the present invention, the function of each unit included in the passenger support apparatus according to any one of the first to fourth aspects is executed by the computer.

  That is, according to each aspect of the present invention, it is possible to provide an occupant support apparatus, method, and program capable of supporting an occupant on a vehicle.

It is a figure showing the whole automatic operation control system composition provided with the passenger support device concerning one embodiment of this invention. It is a block diagram which shows the function structure of the passenger assistance apparatus which concerns on one Embodiment of this invention. It is a flowchart which shows the procedure and assistance content of a passenger assistance by the passenger assistance apparatus shown in FIG.

Hereinafter, an embodiment according to the present invention will be described with reference to the drawings.
[One Embodiment]
(Constitution)
FIG. 1 is a diagram showing an overall configuration of an automatic driving control system including a passenger support apparatus according to an embodiment of the present invention. This automatic driving control system is mounted on the vehicle 1. Here, as the vehicle 1, a taxi that performs a fully automatic driving vehicle without a driver will be described as an example.

  The vehicle 1 includes a power unit 2 including a power source and a transmission and a steering device 3 as basic equipment. An engine and / or a motor is used as the power source.

  The vehicle 1 is configured to be able to travel in an automatic driving mode that does not require a driver. The automatic driving mode is a mode that realizes a driving state in which the vehicle 1 is automatically driven along the road on which the vehicle travels, for example, without a driver performing a driving operation, at a destination designated by a taxi passenger. The vehicle is automatically driven toward. Note that the vehicle 1 may be configured to be able to travel by a driver's driving operation by switching to the manual driving mode as necessary.

  In FIG. 1, the vehicle 1 also includes an automatic driving control device 4 for executing driving control in the automatic driving mode. The automatic driving control device 4 acquires sensing data from a GPS (Global Positioning System) receiver 5, a gyro sensor 6, and a vehicle speed sensor 7, respectively. The automatic driving control device 4 includes route information generated by a navigation system (not shown), traffic information acquired by road-to-vehicle communication, and information obtained by a peripheral monitoring system that monitors the positions and movements of surrounding people and vehicles. In addition, the travel of the vehicle 1 is automatically controlled by controlling the steering, the accelerator, and the brake. The surrounding monitoring system includes, for example, a radar sensor 8 that measures the distance to an object (a moving object such as a vehicle or a person and a stationary object such as a wall) existing around the vehicle and outputs distance information to the automatic driving control device 4. A peripheral camera 9 that images the vehicle periphery and outputs the video signal to the automatic driving control device 4 can be provided.

  The automatic driving control includes, for example, automatic steering (automatic steering operation) and automatic speed adjustment (automatic driving of speed). Automatic steering is an operating state in which the steering device 3 is automatically controlled. Automatic steering includes LKA (Lane Keeping Assist). The LKA automatically controls the steering device 3 so that the vehicle 1 does not deviate from the traveling lane. Note that automatic steering is not limited to LKA. Automatic speed adjustment is an operating state in which the speed of the vehicle 1 is automatically controlled. Automatic speed adjustment includes ACC (Adaptive Cruise Control). For example, when there is no preceding vehicle ahead of the vehicle 1, ACC performs constant speed control that causes the vehicle 1 to travel at a constant speed at a preset speed, and when the preceding vehicle exists ahead of the vehicle 1. Is a follow-up control that adjusts the vehicle speed of the vehicle 1 in accordance with the inter-vehicle distance from the preceding vehicle. The automatic speed adjustment is not limited to ACC but also includes CC (Cruise Control).

  The automatic driving control system of the present embodiment includes a passenger support system 10 that supports a passenger of the vehicle 1. The passenger support system 10 includes a passenger support device 11 according to an embodiment of the present invention, and a guidance output device 12 and a door lock device 13 respectively connected to the passenger support device 11.

  The guidance output device 12 outputs guidance information from the passenger support device 11. The guidance output device 12 includes, for example, a speaker and a display, and outputs a voice signal of guidance information output from the passenger support device 11 from the speaker and displays a display signal of guidance information on the display. The guidance information includes at least information for notifying that the vehicle 1 has reached the destination.

  In addition, the guidance output device 12 includes a function equivalent to an image display function, a touch input function, and a voice input / output function in a navigation system, for example, as a part of a taxi system included in a taxi that performs fully automatic operation. You may be comprised so that the destination can be input by operation of a passenger. The guidance output device 12 can output the input destination information to the passenger support device 11.

  Furthermore, the guidance output device 12 has a card reader function that reads information from, for example, a credit card, a prepaid card, a membership card, etc. as part of the taxi system, and can collect a fare from the passenger. Also good. Further, the guidance output device 12 may have an automatic cash receipt / change payment function for paying the fare with cash.

  Note that the guidance output device 12 does not have to have all of these configurations, and any configuration can be used as long as the vehicle 1 can be notified to the passenger when the vehicle 1 arrives at the destination. I do not care.

  The door lock device 13 is attached to the door of each entrance of the autonomous driving vehicle, and is locked or unlocked by the control of the passenger support device 11.

  The passenger support apparatus 11 supports a passenger and is configured as follows. FIG. 2 is a block diagram showing the functional configuration.

  The passenger support apparatus 11 includes an input / output interface unit 20, a control unit 40, and a storage unit 60.

  The input / output interface unit 20 receives the video signal output from the peripheral camera 9, converts it into digital data, and inputs it to the control unit 40. The input / output interface unit 20 also receives current position information indicating the current position of the vehicle 1 from the GPS receiver 5 and inputs it to the control unit 40. The input / output interface unit 20 further receives the passenger's destination information output from the guidance output device 12 and inputs it to the control unit 40.

  The input / output interface unit 20 converts the guidance information output from the control unit 40 into a voice signal and a display signal and outputs the voice signal and the display signal to the guidance output device 12. Further, the input / output interface unit 20 converts the door control information output from the control unit 40 into a door locking / unlocking signal and outputs it to the door lock device 13.

  Further, the input / output interface unit 20 exchanges information between the automatic operation control device 4 and the control unit 40.

  The storage unit 60 uses a non-volatile memory that can be written and read as needed, such as an SSD (Solid State Drive) or HDD (Hard Disk Drive), as a storage medium. Some of them may use a volatile memory such as a RAM. The storage unit 60 includes a monitoring video storage unit 61, a guidance information storage unit 62, a destination storage unit 63, and a surrounding situation storage unit 64 as storage areas used for carrying out the present embodiment. Here, the monitoring video storage unit 61 stores a monitoring video around the vehicle 1. The guide information storage unit 62 stores guide information. The destination storage unit 63 stores the destination. The surrounding situation storage unit 64 stores whether or not the situation in the vicinity of each exit / exit of the vehicle 1 is in a safe state even if the passenger gets off.

  The control unit 40 includes a video acquisition unit 41, a guidance information output unit 42, a destination acquisition unit 43, a destination output unit 44, an automatic driving determination unit 45, a surrounding situation as control functions necessary for carrying out this embodiment. A determination unit 46, a destination arrival determination unit 47, and a door lock control unit 48 are provided. The control unit 40 is configured by a CPU (Central Processing Unit) and a program memory constituting the computer, and all of these control functions are realized by causing the CPU to execute a program stored in the program memory. You can also.

  The video acquisition unit 41 has a function of acquiring a monitoring video around the vehicle 1 from the peripheral camera 9. The video acquisition unit 41 captures digital data (peripheral monitoring video data) of the video signal output from the peripheral camera 9 from the input / output interface unit 20, and stores the captured peripheral monitoring video data in the monitoring video storage unit of the storage unit 60. 61 is stored.

  In the peripheral camera 9 or the input / output interface unit 20, the video signal may be encoded according to a predetermined encoding method. In this way, it is possible to save the storage capacity of the monitoring video storage unit 61 by reducing the information amount of the peripheral monitoring video data.

  Further, the video acquisition unit 41 does not need to acquire all of the monitoring video from the peripheral camera 9 and is acquired only when the vehicle 1 is stopped or only after the vehicle 1 arrives at the destination. That's fine.

  The guide information output unit 42 has a function of reading the guide information stored in advance from the guide information storage unit 62 and outputting it to the guide output device 12.

  The destination acquisition unit 43 has a function of acquiring a destination of a passenger who is a passenger. The destination acquisition unit 43 takes in the destination information input by the guidance output device 12 and stores the fetched destination information in the destination storage unit 63 of the storage unit 60.

  The destination output unit 44 has a function of outputting the passenger's destination to the automatic operation control device 4. The destination output unit 44 reads out the destination information stored in the destination storage unit 63 and outputs the information to the automatic operation control device 4.

  The automatic driving determination unit 45 determines whether the vehicle 1 is currently traveling, stopped, or has arrived at the destination from various information related to automatic driving output from the automatic driving control device 4. It has a function to determine the automatic driving state. In accordance with the determination result of the automatic driving determination unit 45, the control unit 40 causes each unit to function in order to implement this embodiment.

  The surrounding state determination unit 46 has a function of determining the surrounding state of the vehicle 1 and determining whether or not the passenger is in a safe state even if the passenger gets off. The surrounding situation determination unit 46 reads the surrounding monitoring video data from the monitoring video storage unit 61, and is the situation in the vicinity of the entrance / exit of each passenger boarding the vehicle 1 in a safe state even if the passenger gets off? Determine whether or not. Then, the surrounding situation determination unit 46 stores the determination result in the surrounding situation storage unit 64.

  For example, the surrounding state determination unit 46 determines whether or not a moving object, such as a bicycle or a person, existing at a predetermined distance from the entrance / exit is approaching the door based on the surrounding monitoring video data, Based on the determination result, it is determined whether or not the passenger is in a safe state even when getting off. Specifically, the peripheral situation determination unit 46 receives from the monitoring video storage unit 61 first image data that is peripheral monitoring video data at the current time point and at least peripheral monitoring video data at a time point before the current time point. One second image data is read out, and a known moving object determination method such as pattern matching is performed on the second image data, thereby determining the presence and moving direction of the moving object. For example, when the size of each moving object in the first image data is larger than the size of the corresponding moving object in at least one second image data, the moving direction of the moving object is relative to the door. It can be determined that the direction is approaching.

  Note that the predetermined distance from the entrance / exit may be changed according to the rate of change of the moving object in the image data acquired over time, that is, the moving speed of the moving object. That is, the predetermined distance becomes longer as the moving object moves faster.

  The destination arrival determination unit 47 has a function of determining whether or not the vehicle 1 has arrived at the passenger's destination. The destination arrival determination unit 47 reads out information on the destination stored in the destination storage unit 63 and compares it with current position information indicating the current position of the vehicle 1 supplied from the GPS receiver 5. Determine if you have arrived at your destination.

  The door lock control unit 48 has a function of controlling the door lock device 13. The door lock control unit 48 causes the door lock device 13 to lock the door according to the determination of the start of automatic driving by the automatic driving determination unit 45 or according to the output of destination information by the destination output unit 44. That is, the door lock control unit 48 locks the door at the start of traveling by automatic driving in a state where at least a passenger who is a passenger is on board. Further, when the destination arrival determination unit 47 determines that the vehicle 1 has arrived at the passenger's destination, the door lock control unit 48 reads out the peripheral state stored in the peripheral state storage unit 64 and reads the passenger of the vehicle 1. If the passenger is in a safe state even if the passenger gets off the door, the door lock device 13 is unlocked. Further, a seat belt lock mechanism may be provided so that the seat belt cannot be released until the fare is paid, and the door lock control unit 48 may perform the seat belt lock control together with the door lock control.

(Operation)
Next, the operation of the passenger support apparatus 11 configured as described above will be described. FIG. 3 is a flowchart showing the entire passenger support procedure and support contents.

  This flowchart starts in response to the passenger boarding. Since the function for catching passengers before that time is a function of a taxi system provided in a taxi that performs fully automatic driving, a description thereof is omitted here.

(1) Passenger boarding When the passenger gets on, the passenger support device 11 first controls the door lock device 13 by the door lock control unit 48 of the control unit 40 to lock the door in step S1.

(2) Automatic driving to destination Thereafter, in step S2, the passenger support apparatus 11 acquires the destination of the passenger. For example, the destination acquisition unit 43 of the control unit 40 acquires destination information from the guidance output device 12 and stores the information in the destination storage unit 63 of the storage unit 60. In this case, for example, the guidance output device 12 outputs the guidance information for inquiring about the passenger's destination, and the destination is acquired by receiving the destination input by the microphone, the display, and the touch panel of the guidance output device 12. Can do.

  In addition, you may perform the locking of the door in said step S1 after this step S2.

  If the destination is acquired, in step S3, the passenger assistance device 11 instructs the automatic driving control device 4 to start automatic driving traveling to the passenger's destination. For example, the destination output unit 44 of the control unit 40 reads destination information from the destination storage unit 63 and outputs the information to the automatic operation control device 4. The automatic driving control device 4 performs automatic driving to the destination according to the output destination information.

  In addition, since the operation | movement of this automatic driving | operation control apparatus 4 is not directly related to this embodiment, the description is abbreviate | omitted.

  Thereafter, in step S4, the passenger support apparatus 11 waits for arrival at the destination. For example, the control unit 40 compares the current position information of the vehicle 1 acquired by the GPS receiver 5, for example, with the destination information stored in the destination storage unit 63 by the destination arrival determination unit 47, It is determined whether or not they match. Repeat this step until they match.

  If the vehicle arrives at the destination, in step S5, the passenger support apparatus 11 notifies the passenger that the vehicle has arrived at the destination. For example, the guidance information output unit 42 of the control unit 40 outputs guidance information indicating that it has arrived at the destination from the guidance output device 12.

  In accordance with this guidance, the fare is paid by the passenger, but this fare collection function is a function of a taxi system provided in a taxi that performs fully automatic operation, and thus the description thereof is omitted here.

  In addition, you may make it a taxi system implement all operation | movement of step S2, step S3, and step S5. In this case, the destination acquisition unit 43, the destination output unit 44, and the destination storage unit 63 can be omitted from the passenger support apparatus 11.

  Further, in determining whether or not the vehicle has arrived at the destination in step S4, the current position of the vehicle 1 is not limited to the current position information from the GPS receiver 5, but, for example, an installation position information transmitting device installed near the road An installation position information receiver that receives installation position information from the vehicle may be mounted on the vehicle 1 and the reception result of the installation position information receiver may be used. As described above, the destination arrival determination unit 47 can determine arrival at the destination using the current position information that is a sensing result of the current position detection sensor such as the GPS receiver 5 or the installation position information receiver. it can.

  Alternatively, the destination arrival determination unit 47 may determine whether or not the vehicle has arrived at the destination based on the presence or absence of a destination arrival signal from the automatic operation control device 4.

(3) Door lock release When this fare payment is completed, the passenger support apparatus 11 confirms that the passenger is in a safe state even if the passenger gets off, and releases the door lock. This is performed, for example, as follows.

  For example, in step S6, the surrounding state determination unit 46 of the control unit 40 reads the surrounding monitoring video data from the monitoring video storage unit 61 and determines whether or not a moving object such as a bicycle is approaching the vicinity of the door. If the moving object is approaching the vicinity of the door, the surrounding state determination unit 46 determines that the passenger is not in a safe state even if the passenger gets off. On the other hand, if the moving object is moving away from the vicinity of the door, the surrounding state determination unit 46 determines that it is safe even if the passenger gets off. The surrounding situation determination unit 46 stores the determination result in the surrounding situation storage unit 64.

  Thereafter, for example, the door lock control unit 48 of the control unit 40 reads out the determination result of the peripheral state determination unit 46 stored in the peripheral state storage unit 64 in step S7 and is safe even if the passenger gets off. Check if there is, and if it is not safe, keep the door locked.

  Thus, step S6 and step S7 are repeated, and it waits until it becomes safe even if a passenger gets off.

  Then, in step S7, if it is confirmed that the determination result of the peripheral condition determination unit 46 stored in the peripheral condition storage unit 64 is a result that the passenger is in a safe state even when getting off, the door lock In step S8, the controller 48 controls the door lock device 13 to release the door lock.

(effect)
As described above in detail, in one embodiment of the present invention, in a taxi that operates in fully automatic operation in the automatic operation mode, when a passenger tries to get off at the destination of the passenger, After checking whether it is in a safe state, unlock the door. Therefore, for example, it is possible to prevent the passenger from getting off with the door locked until the bicycle approaching from behind passes, and the passenger who has got off without noticing the approach of the bicycle collides with the bicycle, etc. Since this can be prevented, the safety of passengers can be supported.

  Furthermore, since it is possible to prevent a bicycle from colliding with the door that the passenger inadvertently opens, not only can the safety of the passenger such as the bicycle be secured, but also the passenger of the vehicle and the passenger such as the bicycle Can be prevented in advance.

  In one embodiment of the present invention, it is determined whether or not the passenger is in a safe state even if the passenger gets off, depending on whether or not the moving object is approaching the door. When the door is approaching, the door can remain locked.

  Furthermore, in one embodiment of the present invention, since the existing moving object detection method is used to determine the presence and moving direction of the moving object from the image data acquired by the peripheral camera 9 that captures the periphery of the vehicle, Moving object detection can be realized at low cost. Moreover, since the peripheral camera 9 used for the automatic driving control by the automatic driving control device 4 can be used also in the passenger support device 11, the cost for mounting the passenger support device 11 can be suppressed.

[Other Embodiments]
The surrounding state determination unit 46 uses the distance measurement result of the radar sensor 8 that measures the distance to an object existing around the vehicle 1 in addition to or instead of the surrounding monitoring video data from the surrounding camera 9. The presence of the moving object and the moving direction may be determined. In this way, by using the radar sensor 8 used for the automatic driving control by the automatic driving control device 4 also in the passenger support device 11, it is possible to suppress the cost for mounting the passenger support device 11.

  Moreover, although the taxi which performs fully automatic driving | operation was demonstrated to the example as the vehicle 1, it is needless to say that it is applicable similarly even if it is a self-driving private vehicle.

  Further, the vehicle 1 is not limited to an autonomous driving vehicle, and may be a vehicle capable of switching between a manual driving mode and an automatic driving mode. In this case, the support target person includes a driver who drives as necessary. That is, the support target persons are all passengers including drivers and passengers.

  Furthermore, even in a normal vehicle without an automatic driving mode, it is possible to support a passenger by mounting the radar sensor 8 or the peripheral camera 9 and the passenger support system 10. However, when the occupant is a driver, the power source of the power unit 2 is stopped when trying to get off the vehicle. It is necessary to configure so that operation power is supplied to the person support system 10.

  In addition, since the passenger does not always get off immediately after unlocking the door, the surrounding situation is monitored even after unlocking the door, and the passenger is no longer in a safe state before opening the door The door may be locked again.

  In addition, the vehicle type, the function of the automatic driving control device, the passenger assistance procedure and assistance contents of the passenger assistance device can be variously modified and implemented without departing from the gist of the present invention.

  In short, the present invention is not limited to the above-described embodiment as it is, and can be embodied by modifying the constituent elements without departing from the scope of the invention in the implementation stage. Further, various inventions can be formed by appropriately combining a plurality of constituent elements disclosed in the embodiment. For example, some components may be deleted from all the components shown in the embodiment. Furthermore, you may combine suitably the component covering different embodiment.

A part or all of the above embodiment can be described as in the following supplementary notes, but is not limited thereto.
(Appendix 1)
A passenger support device for supporting a passenger who has boarded a vehicle, comprising a hardware processor and a memory,
The hardware processor is
Determining whether the vehicle has arrived at the passenger's destination;
When it is determined that the vehicle has arrived at the destination, based on the sensing result of the surrounding state detection sensor that detects the surrounding state of the vehicle, whether or not the passenger is in a safe state even when getting off the vehicle And store the determination result in the memory,
An occupant support device that releases the lock of the door of the entrance of the vehicle when the occupant is in a safe state based on the determination result stored in the memory.
(Appendix 2)
A passenger support method executed by a device for supporting a passenger who has boarded a vehicle,
Using a hardware processor to determine whether the vehicle has arrived at the occupant's destination;
When it is determined that the vehicle has arrived at the destination using the hardware processor, the passenger gets off based on a sensing result of a surrounding state detection sensor that detects a surrounding state of the vehicle. Is determined to be in a safe state, and the determination result is stored in the memory,
Using the hardware processor, the determination result stored in the memory, when the passenger is in a safe state even when getting off, unlocking the door of the entrance of the vehicle, the passenger support Method.

    DESCRIPTION OF SYMBOLS 1 ... Vehicle, 2 ... Power unit, 3 ... Steering device, 4 ... Automatic driving control device, 5 ... Receiver, 6 ... Gyro sensor, 7 ... Vehicle speed sensor, 8 ... Radar sensor, 9 ... Peripheral camera, 10 ... Passenger support System: 11 ... Passenger support device, 12 ... Guide output device, 13 ... Door lock device, 20 ... Input / output interface unit, 40 ... Control unit, 41 ... Video acquisition unit, 42 ... Guide information output unit, 43 ... Destination Acquisition unit 44 ... Destination output unit 45 ... Automatic operation determination unit 46 ... Peripheral situation determination unit 47 ... Destination arrival determination unit 48 ... Door lock control unit 60 ... Storage unit 61 ... Monitoring video storage unit 62 ... Guidance information storage unit, 63 ... Destination storage unit, 64 ... Peripheral situation storage unit.

Claims (6)

A passenger support device for supporting a passenger who has boarded a vehicle,
A destination arrival determination unit for determining whether the vehicle has arrived at the destination of the passenger;
When the destination arrival determination unit determines that the vehicle has arrived at the destination, even if the passenger gets off based on the sensing result of the surrounding state detection sensor that detects the surrounding state of the vehicle. A state determination unit that determines whether or not a safe state;
A door lock control unit that unlocks the door of the entrance of the vehicle when it is determined by the state determination unit that the passenger is in a safe state even when getting off the vehicle;
A passenger support apparatus comprising:   The state determination unit determines whether or not a moving object existing in the vicinity of the entrance / exit is approaching the door based on a sensing result of the ambient state detection sensor, and the determination result The occupant support device according to claim 1, wherein the occupant support device determines whether or not the occupant is in a safe state even when getting off the vehicle. A destination storage unit for storing the destination of the passenger;
The destination arrival determination unit determines whether the vehicle has arrived at the destination stored in the destination storage unit based on a sensing result of a current position detection sensor that detects a current position of the vehicle. The occupant support device according to claim 1 or 2.   When the vehicle has an automatic driving control device and is an automatic driving vehicle that performs automatic driving to a destination under the control of the automatic driving control device, the destination arrival determination unit includes a destination from the automatic driving control device. The occupant support device according to claim 1 or 2, wherein it is determined whether or not the vehicle has arrived at a destination based on the presence or absence of a land arrival signal. A passenger support method executed by a device for supporting a passenger who has boarded a vehicle,
A destination arrival determination step for determining whether the vehicle has arrived at the destination of the passenger;
When it is determined in the destination arrival determination step that the vehicle has arrived at the destination, even if the passenger gets off based on the sensing result of the surrounding state detection sensor that detects the surrounding state of the vehicle. A state determination step for determining whether or not a safe state;
When it is determined in the state determination step that the passenger is in a safe state even when getting off the vehicle, a door lock control step for releasing the locking of the door of the vehicle entrance / exit,
A passenger support method comprising:   The passenger support program which makes a computer perform the function of each part with which the passenger support apparatus as described in any one of Claims 1 thru | or 4 is provided.